Michele Colledanchise

Michele Colledanchise

Postdoctoral researcher at the Center for Robotics and Intelligent Systems, Istituto Italiano di Tecnologia (IIT). Genoa, Italy

Publications

Book

  1. Colledanchise, M., & Ögren, P. (2018). Behavior Trees in Robotics and AI: An Introduction. Taylor & Francis Group.
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    <summary>Abstract</summary> A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular and reactive. These properties are crucial in many applications, which has led to the spread of BT from computer game programming to many branches of AI and Robotics. In this book, we will first give an introduction to BTs, then we describe how BTs relate to, and in many cases generalize, earlier switching structures. These ideas are then used as a foundation for a set of efficient and easy to use design principles. Properties such as safety, robustness, and efficiency are important for an autonomous system, and we describe a set of tools for formally analyzing these using a state space description of BTs. With the new analysis tools, we can formalize the descriptions of how BTs generalize earlier approaches. We also show the use of BTs in automated planning and machine learning. Finally, we describe an extended set of tools to capture the behavior of Stochastic BTs, where the outcomes of actions are described by probabilities. These tools enable the computation of both success probabilities and time to completion.

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Papers

  1. Colledanchise, M., & Natale, L. (2018). Improving the Parallel Execution of Behavior Trees. In Intelligent Robots and Systems (IROS), 2018 IEEE/RSJ International Conference on.
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    <summary>Abstract</summary> ABS

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  1. Colledanchise, M., & Natale, L. (2017). Towards Reactive and Robust Manipulation Tasks using Behavior Trees. In In proceedings of Workshop on Towards Robust Grasping and Manipulation Skills for Humanoids, IEEE-RAS International Conference on Humanoid Robots.

  2. Colledanchise, M., Parasuraman, R. N., & Ogren, P. (2018). Learning of Behavior Trees for Autonomous Agents. IEEE Transactions on Games.

  3. Colledanchise, M., & Ögren, P. (2017). How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees. IEEE Transactions on Robotics.

  4. Christalin, B., Colledanchise, M., Ögren, P., & Murray, R. (2016). Synthesis of Reactive Control Protocols for Switch Electrical Power Systems for Commercial Application with Safety Specifications. In Computational Intelligence, 2016 IEEE Symposium Series on.

  5. Colledanchise, M., & Ögren, P. (2016). How Behavior Trees Generalize the Teleo-Reactive Paradigm and And-Or-Trees. In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on.

  6. Colledanchise, M., Murray, R., & Ögren, P. (2017). Synthesis of Correct-by-Construction Behavior Trees. In Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on.

  7. McGhan, C. L., Wang, Y.-S., Colledanchise, M., Vaquero, T., Murray, R., Williams, B., & Ögren, P. (2016). Towards Architecture-wide Analysis, Verification, and Validation for Total System Stability During Goal-Seeking Space Robotics Operations. In AIAA SPACE (p. 5607).

  8. Colledanchise, M., Marzinotto, A., Dimarogonas, D. V., & Ögren, P. (2016). The Advantages of Using Behavior Trees in Multi-Robot Systems. In International Symposium on Robotics (ISR).

  9. Colledanchise, M., Dimarogonas, D. V., & Ögren, P. (2014). Robot navigation under uncertainties using event based sampling. In Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on.

  10. Wang, Y., Colledanchise, M., Marzinotto, A., & Ögren, P. (2014). A Distributed Convergent Solution to the Ambulance Positioning Problem on a Streetmap Graph. In World Congress.

  11. Colledanchise, M., & Ögren, P. (2014). How Behavior Trees Modularize Robustness and Safety in Hybrid Systems. In Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on.

  12. Colledanchise, M., Marzinotto, A., & Ögren, P. (2014). Performance Analysis of Stochastic Behavior Trees. In Robotics and Automation (ICRA), 2014 IEEE International Conference on.

  13. Marzinotto, A., Colledanchise, M., Chrisitian, S., & Ögren, P. (2014). Towards a Unified Behavior Trees Framework for Robot Control. In Robotics and Automation (ICRA), 2014 IEEE International Conference on.

  14. Colledanchise, M., Dimarogonas, D. V., & Ögren, P. (2013). Obstacle Avoidance in Formation Using Navigation-like Functions and Constraint Based Programming. In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on.

You can also find my articles on my Google Scholar profile.